version: 66.08
glider: 503
mission: 7
dive: 508
start: 12 31 110 14 53 6
data:
$ID,503
$MISSION,7
$DIVE,508
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,2
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,4
$T_DIVE,180
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.0099999998
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51780
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,-7700
$TGT_DEFAULT_LON,17100
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,4
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20137.793
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2780
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,445
$VBD_MAX,3956
$C_VBD,2960
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,134.3
$AH0_10V,102.9
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.009045
$PRESSURE_SLOPE,0.00011732637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-10.162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,311210,144338,-7606.950,17629.775,18,1.4,19,121.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-75.2
$GPS2,311210,145236,-7606.934,17629.582,13,1.0,29,121.5
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_NE
$TGT_LATLONG,-7605.000,17700.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,321.3,14015,-18.2,-13.333
$D_GRID,375
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,111,0.00,0.00,-93.60,0.000,2,0.000,0.000,179,2806,3559,0,0,0,0,0,0
$GC,115,-0.84,-219.0,3.9,-9.4,16,136,8.95,1.58,-5.75,0.000,4,0.212,0.064,2514,3748,3856,0,0,0,0,0,0
$GC,277,-0.84,-219.0,44.2,-18.7,44,283,0.00,1.52,0.00,0.000,6,0.000,0.029,2514,2764,3859,0,0,1,0,0,0
$GC,420,-0.84,-219.0,71.2,-18.2,69,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3860,0,0,0,0,0,0
$GC,562,-0.84,-219.0,97.5,-18.1,94,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3860,0,0,0,0,0,0
$GC,698,-0.84,-219.0,121.8,-17.4,108,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3860,0,0,0,0,0,0
$GC,825,-0.84,-219.0,143.8,-17.4,120,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3861,0,0,0,0,0,0
$GC,953,-0.84,-219.0,166.3,-17.7,132,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3860,0,0,0,0,0,0
$GC,1080,-0.84,-219.0,189.5,-18.5,144,1084,0.00,1.60,0.00,0.000,4,0.000,0.050,2506,3740,3861,0,0,0,0,0,0
$GC,1119,-0.84,-219.0,197.1,-18.8,147,1127,0.00,1.48,0.00,0.000,6,0.000,0.030,2506,2784,3860,0,0,1,0,0,0
$GC,1253,-0.84,-219.0,221.5,-18.0,160,1257,0.00,2.20,0.00,0.000,4,0.000,0.032,2506,1374,3861,0,0,0,0,0,0
$GC,1263,-0.84,-219.0,223.7,-18.4,160,1272,0.08,2.25,0.00,0.000,6,0.131,0.044,2524,2744,3861,0,0,0,0,0,0
$GC,1399,-0.84,-219.0,245.7,-16.2,173,1402,0.00,1.62,0.00,0.000,4,0.000,0.051,2517,3772,3860,0,0,0,0,0,0
$GC,1433,-0.84,-219.0,251.7,-18.2,176,1437,0.00,1.55,0.00,0.000,6,0.000,0.030,2517,2772,3860,0,0,0,0,0,0
$GC,1637,-0.84,-219.0,285.2,-16.4,195,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2772,3861,0,0,0,0,0,0
$GC,1827,-0.84,-219.0,315.7,-16.0,213,1831,0.00,1.62,0.00,0.000,4,0.000,0.050,2508,3796,3860,0,0,0,0,0,0
$GC,1865,-0.84,-219.0,322.4,-16.8,216,1872,0.00,1.60,0.00,0.000,6,0.000,0.028,2509,2765,3860,0,0,0,0,0,0
$GC,2064,-0.84,-219.0,353.6,-15.8,235,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2765,3861,0,0,0,0,0,0
$STATE,2199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2199,begin apogee
$GC,2204,-0.16,0.0,375.6,16.0,248,2383,0.70,0.00,174.57,0.968,4,0.121,0.000,2741,2764,2960,0,0,0,0,0,0
$STATE,2384,end apogee,CONTROL_FINISHED_OK
$STATE,2384,begin climb
$GC,2387,0.84,219.0,382.8,0.0,264,2590,1.00,2.53,191.40,0.915,4,0.073,0.032,3072,1300,2066,0,0,0,0,0,0
$GC,2751,0.84,219.0,345.9,14.3,296,2760,0.00,2.45,0.00,0.000,6,0.000,0.041,3072,2701,2058,0,0,0,0,0,0
$GC,2950,0.84,219.0,318.2,13.8,315,2954,0.00,2.30,0.00,0.000,4,0.000,0.034,3082,1306,2055,0,0,0,0,0,0
$GC,3118,0.84,221.1,295.3,13.2,329,3125,0.00,2.30,0.00,0.000,6,0.000,0.041,3082,2706,2054,0,0,0,0,0,0
$GC,3316,0.84,221.1,267.6,14.2,348,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2706,2054,0,0,0,0,0,0
$GC,3507,0.84,221.1,240.6,13.8,366,3511,0.00,1.67,0.00,0.000,4,0.000,0.049,3083,3763,2053,0,0,0,0,0,0
$GC,3569,0.84,221.1,231.0,15.8,371,3575,0.00,1.65,0.00,0.000,6,0.000,0.030,3091,2721,2052,0,0,0,0,0,0
$GC,3703,0.84,221.1,211.1,15.0,384,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2721,2052,0,0,0,0,0,0
$GC,3830,0.84,221.1,191.5,15.4,396,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2721,2052,0,0,0,0,0,0
$GC,3958,0.84,221.1,172.8,14.5,408,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2721,2052,0,0,0,0,0,0
$GC,4085,0.84,221.1,154.5,14.4,420,4089,0.00,1.65,0.00,0.000,4,0.000,0.048,3091,3763,2052,0,0,0,0,0,0
$GC,4123,0.84,221.1,148.4,15.8,423,4131,0.00,1.67,0.00,0.000,6,0.000,0.031,3099,2706,2051,0,0,0,0,0,0
$GC,4258,0.84,221.1,129.4,13.6,436,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2705,2051,0,0,0,0,0,0
$GC,4385,0.84,221.1,112.1,13.5,448,4389,0.00,1.73,0.00,0.000,4,0.000,0.050,3099,3761,2051,0,0,0,0,0,0
$GC,4423,0.84,221.1,106.3,14.8,451,4431,0.10,1.65,0.00,0.000,6,0.142,0.031,3074,2722,2050,0,0,0,0,0,0
$GC,4563,0.91,277.8,90.1,11.0,471,4618,0.00,0.00,50.20,0.799,6,0.000,0.000,3074,2722,1827,0,0,0,0,0,0
$GC,4752,0.91,277.8,66.6,13.3,504,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2722,1824,0,0,0,0,0,0
$GC,4895,0.91,278.8,48.4,13.3,529,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2722,1823,0,0,0,0,0,0
$GC,5037,0.91,278.8,29.2,13.6,554,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2722,1823,0,0,0,0,0,0
$GC,5179,0.91,278.8,9.3,14.5,579,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2722,1822,0,0,0,0,0,0
$FREEZE,7.48,-0.798,-1.895,2,1,0
$FREEZE,6.75,-0.797,-1.895,2,1,0
$FREEZE,6.07,-0.798,-1.894,2,1,0
$FREEZE,5.42,-0.809,-1.894,2,1,0
$FREEZE,4.64,-0.810,-1.893,2,1,0
$FREEZE,3.93,-0.811,-1.893,2,1,0
$FREEZE,3.13,-0.814,-1.892,2,1,0
$FREEZE,2.47,-0.813,-1.891,2,1,0
$STATE,5227,end climb,SURFACE_DEPTH_REACHED
$STATE,5227,begin surface coast
$FREEZE,1.84,-0.810,-1.891,2,1,0
$FREEZE,1.09,-0.809,-1.890,2,1,0
$FREEZE,0.39,-0.809,-1.890,2,1,0
$FREEZE,-0.25,-0.840,-1.891,2,1,0
$FINISH,-0.2,1.027710
$STATE,5251,end surface coast,CONTROL_FINISHED_OK
$STATE,5251,begin surface
$SM_CCo,5268,19.33,0.101,0,0,1655,320.11
$SM_GC,0.98,0.00,0.00,19.33,0.000,0.000,0.101,179,2794,1655,-8.19,0.40,320.11
$IRIDIUM_FIX,-7519.49,17625.42,311210,141421
$TT8_MAMPS,0.027713
$HUMID,52.63
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,20.0
$24V_AH,22.4,49.513
$10V_AH,9.9,19.396
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.475,36.725,416.175,19.325,0.000,58.493,123.050,158.211,1.250,0.000,32.771,1432.659,2322.658,497.279,1402.709,184.226,0.000,1104.715,0.000,986.769,0.000,7.758,0.000
$DEVICE_MAMPS,211.905,97.920,967.725,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,412.604,761.434,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,40356,592
$CAP_FILE_SIZE,78448,0
$CFSIZE,260165632,228577280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.117,313.9,1
$GPS,311210,162214,-7606.685,17632.043,19,1.5,20,121.5